Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9657
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dc.contributor.authorYaşır, Abdullah-
dc.contributor.authorKiper, Gökhan-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.date.accessioned2020-09-29T12:02:01Z
dc.date.available2020-09-29T12:02:01Z
dc.date.issued2020en_US
dc.identifier.citationYaşır, A., Kiper, İ., Dede, M. İ. C. (2020). Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications. Mechanism and Machine Theory, 153. doi: 10.1016/j.mechmachtheory.2020.104013.en_US
dc.identifier.issn0094-114X
dc.identifier.issn1873-3999
dc.identifier.issn0094-114X-
dc.identifier.issn1873-3999-
dc.identifier.urihttps://doi.org/10.1016/j.mechmachtheory.2020.104013
dc.identifier.urihttps://hdl.handle.net/11147/9657
dc.description.abstractIn minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.en_US
dc.description.sponsorshipTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK)
dc.language.isoenen_US
dc.publisherElsevier Ltd.en_US
dc.relation.ispartofMechanism and Machine Theoryen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectRobotic manipulatorsen_US
dc.subjectSurgery applicationsen_US
dc.subjectSurgical roboticsen_US
dc.subjectParallel manipulatoren_US
dc.subject2R1T mechanismen_US
dc.subjectRemote center of motionen_US
dc.titleKinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applicationsen_US
dc.typeArticleen_US
dc.authorid0000-0001-8793-724Xen_US
dc.authorid0000-0001-6220-6678en_US
dc.authorid0000-0001-5230-5883en_US
dc.institutionauthorKiper, Gökhan
dc.institutionauthorDede, Mehmet İsmet Can
dc.institutionauthorYaşır, Abdullah
dc.institutionauthorKiper, Gökhan-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.institutionauthorYaşır, Abdullah-
dc.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume153en_US
dc.identifier.wosWOS:000566908100008
dc.identifier.scopusSCOPUS: 2-s2.0-85087415873
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1016/j.mechmachtheory.2020.104013-
dc.relation.doi10.1016/j.mechmachtheory.2020.104013en_US
dc.coverage.doi10.1016/j.mechmachtheory.2020.104013en_US
item.openairetypeArticle-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.grantfulltextopen-
item.languageiso639-1en-
item.cerifentitytypePublications-
crisitem.author.deptDepartment of Mechanical Engineering-
crisitem.author.deptDepartment of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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